Design Of A Prototype Underwater Research Platform For Swarm Robotics

Abstract To perform under water robotic research requires specialized equipment. A few pieces of electronics atop a set of wheels is not going to cut it. An underwater research platform must be waterproof, reliable, robust, recoverable and easy to maintain. It must also be able to move in 3 dimensions. Also it must be able to navigate and avoid obstacles. Further if this platform is to be part of a swarm of like platforms then it must be cost effective and relatively small. To purchase such a platform can be very expensive. However, for shallow water, a suitable platform can be built from mostly off the shelf items at little cost. This article describes the design of one such underwater robot including various sensors and communications systems that allow for swarm robotics. Whilst the robotic platform performs well, to explore what many of them would do, that is more than are available, simulation is required. This article continues to study how best to simulate these robots for a swarm, or system of sys...

[1]  Jong Hwan Lim,et al.  Feature based map building using sparse sonar data , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  E. Cabruja,et al.  Piezoresistive accelerometers for MCM-package - Part II:The packaging , 2005, Journal of Microelectromechanical Systems.

[3]  Mohammad Jamshidi,et al.  Systems of Systems Engineering: Principles and Applications , 2008 .

[4]  Hiroshi Yoshida,et al.  Experimental results of an autonomous underwater vehicle "Urashima" , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[5]  P. Pietryka,et al.  A solar-powered autonomous underwater vehicle , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[6]  M. Janishidi.  System of Systems - Innovations for 21st Century , 2008, 2008 IEEE Region 10 and the Third international Conference on Industrial and Information Systems.

[7]  Ying Kun Peng,et al.  A vector-based gyro-free inertial navigation system by integrating existing accelerometer network in a passenger vehicle , 2004, PLANS 2004. Position Location and Navigation Symposium (IEEE Cat. No.04CH37556).

[8]  Chen Xing,et al.  A Robot Simulation System Basing on AutoLisp , 2007, 2007 2nd IEEE Conference on Industrial Electronics and Applications.

[9]  Matthew A. Joordens.  Design of a low cost underwater robotic research platform , 2008, 2008 IEEE International Conference on System of Systems Engineering.

[10]  F.A. Levinzon,et al.  Noise of piezoelectric accelerometer with integral FET amplifier , 2005, IEEE Sensors Journal.

[11]  Philippe Cardou,et al.  Simplectic Architectures for True Multi-axial Accelerometers: A Novel Application of Parallel Robots , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[12]  Fu Mengyin,et al.  Control Law Design of Mobile Robot Trajectory Tracking and Development of Simulation Platform , 2006, 2007 Chinese Control Conference.

[13]  Lindsay Kleeman,et al.  A real time advanced sonar ring with simultaneous firing , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[14]  T. Kawasaki,et al.  Development of AUV "Marine Bird" with underwater docking and recharging system , 2003, 2003 International Conference Physics and Control. Proceedings (Cat. No.03EX708).

[15]  R. Aubin,et al.  Simulation and Design of a Snake-Like Robot Based on a Bio-Inspired Mechanism , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[16]  Takeshi Sunaga,et al.  The development of web-based learning community system to facilitate learner's creating the autonomous robots , 2002, International Conference on Computers in Education, 2002. Proceedings..

[17]  Stefano Carpin,et al.  USARSim: a robot simulator for research and education , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[18]  Minsu Jang,et al.  Ubiquitous robot simulation framework and its applications , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[19]  Xuejun Pan,et al.  Research of Multi-robot Cooperation Simulation and Monitoring System Based on Java , 2006, 2006 6th World Congress on Intelligent Control and Automation.

[20]  Sun Lining,et al.  Virtual Robot Simulation and Monitoring System Based on Java3D , 2004 .

[21]  C. Brisan,et al.  Virtual Models of Special Class of PARTNER Robots , 2006, 2006 IEEE International Conference on Automation, Quality and Testing, Robotics.

[22]  Daniel J. Stilwell,et al.  Design of a prototype miniature autonomous underwater vehicle , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[23]  Mohammad Jamshidi,et al.  System of systems engineering : innovations for the 21st century , 2008 .

[24]  Xiaolin Hu,et al.  An Integrated Multi-Robot Test Bed to Support Incremental Simulation-Based Design , 2007, 2007 IEEE International Conference on System of Systems Engineering.

[25]  Andrew Hogue,et al.  AQUA: an aquatic walking robot , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[26]  Michael Daniel,et al.  Design and analysis of hull configurations for a low-cost, autonomous underwater robot as an enabling technology for system of system applications , 2008, 2008 IEEE International Conference on System of Systems Engineering.

[27]  Poolsak Koseeyaporn,et al.  Windows-based robot simulation tools , 2002, 7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002..

[28]  P.E. Hagen,et al.  The HUGIN 1000 autonomous underwater vehicle for military applications , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[29]  William D. Smart,et al.  A Video Game-Based Mobile Robot Simulation Environment , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[30]  Stephen L. Wood,et al.  Development of an autonomous underwater vehicle for sub-ice environmental monitoring in Prudhoe Bay, Alaska , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[31]  T. Ura,et al.  Autonomous underwater vehicle "R2D4" - autonomous route change system in response to environmental anomaly , 2003, 2003 International Conference Physics and Control. Proceedings (Cat. No.03EX708).

[32]  R. Robotin,et al.  An OpenGL Application for Industrial Robots Simulation , 2006, 2006 IEEE International Conference on Automation, Quality and Testing, Robotics.